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Argorha Pathfinding is an algorithm which permit you to find your way into a polygon soup ( 3D world ) efficently by precalculating a system of sectors and portals. AStar included. Demo in Download section, code on SVN.

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Non Hierarchial Pathfinding
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The pathfinding in Irrlicht engine collision demo
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Pathfinding between 2 points between partitions
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Hierarchical pathfinding Level 0
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Pathfinding between 2 points in a partition
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Hierarchical pathfinding Level 1


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